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| author | erwincoumans <erwin.coumans@gmail.com> | 2018-11-16 17:29:03 -0800 |
|---|---|---|
| committer | erwincoumans <erwin.coumans@gmail.com> | 2018-11-16 17:29:03 -0800 |
| commit | 9e99f5cdbca25743790d7100153758106cc0fd89 (patch) | |
| tree | d8e6c54dcc6af7cea20ec1d0346c96db6541ce89 /examples/pybullet/gym/pybullet_data | |
| parent | b13e84e43cfde022377dd5df193fa0fbb051d08d (diff) | |
| download | bullet3-9e99f5cdbca25743790d7100153758106cc0fd89.tar.gz | |
Expose PyBullet.calculateVelocityQuaternion, getAxisAngleFromQuaternion, getQuaternionFromAxisAngle, getDifferenceQuaternion
Add preparation for DeepMimic humanoid environment, replicating parts of https://github.com/xbpeng/DeepMimic
Loading humanoid.urdf and applying motion action: examples/pybullet/gym/pybullet_envs/mimic/humanoid.py
Loading MotionCapture data: examples/pybullet/gym/pybullet_envs/mimic/motion_capture_data.py
Little test: examples/pybullet/gym/pybullet_envs/mimic/humanoid_test.py
Diffstat (limited to 'examples/pybullet/gym/pybullet_data')
| -rw-r--r-- | examples/pybullet/gym/pybullet_data/humanoid/humanoid.urdf | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/examples/pybullet/gym/pybullet_data/humanoid/humanoid.urdf b/examples/pybullet/gym/pybullet_data/humanoid/humanoid.urdf index b84e98b4f..9a3d4938e 100644 --- a/examples/pybullet/gym/pybullet_data/humanoid/humanoid.urdf +++ b/examples/pybullet/gym/pybullet_data/humanoid/humanoid.urdf @@ -1,8 +1,8 @@ <robot name="dumpUrdf">
- <link name="base" >
+ <link name="root" >
<inertial>
<origin rpy = "0 0 0" xyz = "0 0 0" />
- <mass value = "0.000000" />
+ <mass value = "0.00100" />
<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
</inertial>
</link>
@@ -20,7 +20,7 @@ </collision>
</link>
<joint name="joint0" type="fixed" >
- <parent link = "base" />
+ <parent link = "root" />
<child link="link0" />
<origin rpy = "0 0 0" xyz = "0.000000 0.000000 0.000000" />
</joint>
|